Patent GB-1031956-A (GB)
Title: Numerical positioning system
IPC: G05B19/25
Filed: 1965-02-01
Abstract: 1,031,956. Programmed machine tool control. BENDIX CORPORATION. Feb. 1,1965 [Feb. 19, 1964], No. 4242/65. Heading G3N. For positioning a machine tool along co-ordinates axes, input data is provided on punched type 18 in binary coded decimal form, a control system accepting the data representing one set of co-ordinates at a time, converting it into binary form, and storing it on a recirculating delay line. Another delay line stores a binary representation of the actual position of the tool for comparison with a command signal, the motor driving the tool being operated at high or low speed in accordance with the magnitude of the error signal. A two-part operational cycle is employed, in the first part of which a set of commands for a plurality of axes is read off the tape and stored. When this "loading" half-cycle is completed, the position and command signals are compared repeatedly and control signals are generated to actuate the motor system. An input signal on line 26 places master control 24 into the load cycle and starts the tape reader 20 providing signals to character decoding gates 28. The first signals on the tape are the address and sign of a number to follow and these are supplied to store 32. The digits which follow are read one by one and supplied to 2's complement generator 36. This unit generates the 2's complement of a digit if the sign is negative, but, if the sign is positive the generator does not operate on the digit. The digits from the generator 36 are converted to straight binary form and stored in an appropriate section of command register 50 comprising serial recirculating magnetostrictive delay lines providing delays of two word times or forty bits. The X command is retained in word space W1, and the Y command in word space W2. The conversion of the binary coded decimal information of the tape into the binary form is achieved by reading off the most significant digit and storing it, the first digit being then multiplied by ten and restored. This process is repeated as long as there are additional digits in the number being read from the tape. The multiplication by ten is effected by putting the number through two flip-flop storage devices 52, 54 which respectively delay the number one and three bit times. Both these units provide their outputs to full adder 56 which also receives the numbers direct from unit 50. The full adder also receives digits from generator 36, and its output is supplied to entry gates 48 also receiving the address. The multiplication and storage of the command numbers is performed by load cycle unit 64 under the control of clock 10. During the compare cycle, the command information is stored in delay lines 50, 80, the motion of the tool being detected by X axis transducer 82 and Y axis transducer 84 producing pulse trains. The phase relationship of the two pulse trains is decoded by couplers 90, 92, to determine the direction of motion of the tool. A temporary pulse storage register 14 gates the pulses to a half adder-subtractor 104 connected within the recirculating line of unit 80. The output of this unit is fed to complement generator 112 providing as an output the 2's complement of the position store if the previous comparison cycle noted a positive error, and the 1's complement for a negative error. The output of full adder 114 is presented to detector 118 adapted to shift the system back into the load cycle. An error store 122 determines whether an output error is greater or less than a predetermined value at which the system is switched from a high speed to a low speed motor. The unit 120 also provides an output which indicates the direction of motion required by the motors.